A robotic arm is inserted into a passage of a part to be examined. Operator instructions defining a tip motion for a tip of the robotic arm, sensor readings, and an environmental map are received. The operator instructions, the environmental map and sensor readings are applied to a previously trained machine learning model to produce control signals. The control signals to an actuator on the arm to control a movement of the robotic arm allowing the robotic arm to automatically gain traction in the passage and automatically move according to the movement.
Legal claims defining the scope of protection. Each claim is shown in both the original legal language and a plain English translation.
2. The system of claim 1, wherein the robotic arm comprises a tip portion with at least one segment and a proximal portion with multiple segments, wherein selected ones of the multiple segments of the proximal portion provide traction to elevate and/or change an orientation of the tip portion without the tip portion gaining traction from the passage and without operator involvement or control.
This invention relates to a robotic arm system designed for navigating confined passages, such as in medical or industrial applications. The system addresses the challenge of maneuvering a robotic arm through narrow or complex passages where traditional control methods may be ineffective or require excessive operator input. The robotic arm includes a tip portion with at least one segment and a proximal portion with multiple segments. The proximal segments are selectively actuated to provide traction, allowing the arm to elevate or change the orientation of the tip portion without relying on traction from the passage itself. This autonomous adjustment occurs without direct operator involvement or control, enabling smoother and more precise navigation through constrained environments. The system enhances operational efficiency by reducing the need for manual corrections and improving adaptability in dynamic or restricted spaces. The design ensures that the tip portion remains stable and properly positioned, even in challenging conditions, by leveraging the proximal segments for traction-based adjustments. This approach minimizes the risk of jamming or misalignment while maintaining the arm's functionality in tight or irregular passages. The invention is particularly useful in applications where precise, hands-free navigation is critical, such as minimally invasive surgical procedures or inspection tasks in confined industrial settings.
3. The system of claim 1, wherein the environmental map comprises a computer aided design (CAD) model or a dynamically changing model.
The invention relates to systems for generating and utilizing environmental maps, particularly in applications such as robotics, autonomous navigation, or augmented reality. The core problem addressed is the need for accurate, up-to-date spatial representations of environments to enable precise navigation, interaction, or simulation. The system includes a mapping module that constructs an environmental map, which can be either a static computer-aided design (CAD) model or a dynamically changing model. The CAD model provides a predefined, highly detailed representation of the environment, useful for structured or controlled settings. Alternatively, the dynamically changing model adapts in real-time to environmental changes, accommodating scenarios where the surroundings are unpredictable or evolving, such as in outdoor or disaster response applications. The system also includes a processing module that analyzes the environmental map to extract relevant spatial data, such as object locations, boundaries, or movement patterns. This data is then used to guide navigation, object manipulation, or simulation tasks. For example, in robotics, the system may adjust a robot's path to avoid obstacles or optimize movement efficiency. In augmented reality, it may overlay virtual elements accurately onto the real-world environment. The dynamic model updates continuously using sensor inputs, such as cameras, LiDAR, or other perception systems, ensuring the map remains current. This adaptability is critical for applications requiring real-time responsiveness, such as autonomous vehicles navigating through traffic or drones avoiding obstacles in flight. The system's flexibility in supporting both static and dynamic models allows it to be deployed in diverse environments, from industri
4. The system of claim 1, wherein the environmental map comprises a hybrid of a computer aided design (CAD) model and a dynamically changing model.
The system relates to environmental mapping for autonomous navigation, addressing the challenge of accurately representing dynamic environments where static CAD models alone are insufficient. The system integrates a hybrid environmental map combining a computer-aided design (CAD) model with a dynamically changing model. The CAD model provides a precise, pre-defined representation of static structures, while the dynamically changing model updates in real-time to reflect variable elements such as moving objects, temporary obstacles, or environmental conditions. This hybrid approach ensures that autonomous systems, such as robots or vehicles, can navigate accurately in environments where both static and dynamic features coexist. The dynamically changing model may incorporate sensor data, such as LiDAR or camera inputs, to continuously refine the map, allowing the system to adapt to real-world changes without manual updates. The hybrid map enhances navigation reliability by maintaining the structural accuracy of the CAD model while dynamically adjusting to transient conditions, improving safety and efficiency in applications like autonomous driving, industrial automation, or smart infrastructure.
5. The system of claim 1, wherein the at least one sensor comprises a camera.
A system for monitoring and analyzing physical environments using sensor data includes at least one sensor configured to capture information about the environment. The sensor may be a camera, which captures visual data such as images or video. The system processes this data to detect and track objects, movements, or changes within the monitored area. The camera may be equipped with features such as night vision, zoom, or high-resolution imaging to enhance data accuracy. The system may also include additional sensors, such as thermal or motion detectors, to supplement the camera's capabilities. The collected data is analyzed in real-time or stored for later review, enabling applications in surveillance, automation, or safety monitoring. The camera-based sensor provides visual context, allowing for more detailed and precise environmental assessments compared to non-visual sensors. The system may integrate with other devices or networks to provide alerts, control mechanisms, or data visualization based on the captured information. This approach improves situational awareness and decision-making in various operational scenarios.
6. The system of claim 1, wherein the robotic arm is inserted into the passage at an insertion point of the engine and wherein the at least one sensor comprises a position sensor positioned at the insertion point, the position sensor determining positions of the robotic arm based upon detecting markings on the robotic arm.
This invention relates to robotic inspection systems for internal engine passages, addressing the challenge of accurately tracking the position of a robotic arm within confined engine structures. The system includes a robotic arm inserted into an engine passage through a designated insertion point. At least one sensor, specifically a position sensor, is positioned at the insertion point to monitor the robotic arm's movement. The position sensor detects markings on the robotic arm to determine its precise location within the passage. This enables real-time tracking of the robotic arm's position, ensuring accurate navigation and inspection of the engine's internal components. The system may also include additional sensors, such as imaging or proximity sensors, to enhance inspection capabilities. The robotic arm is designed to maneuver through complex passage geometries, allowing for thorough inspection of hard-to-reach areas. The position sensor's ability to track the arm via markings ensures reliable positioning data, which is critical for maintaining inspection accuracy and efficiency. This approach improves upon traditional inspection methods by providing automated, precise, and repeatable internal engine assessments.
7. The system of claim 1, wherein the movement comprises a sidewinding movement.
This invention relates to robotic systems designed for navigating uneven or unstable terrain, particularly where traditional wheeled or legged locomotion is ineffective. The system includes a robotic device with a flexible body structure capable of performing sidewinding movement, a mode of locomotion inspired by certain reptiles that allows the robot to traverse loose, granular, or slippery surfaces by generating lateral undulations. The flexible body structure enables the robot to distribute its weight dynamically, reducing the risk of sinking or slipping. The system may also incorporate sensors to detect terrain conditions and adjust movement parameters in real-time to optimize stability and efficiency. The sidewinding movement is achieved through coordinated actuation of multiple segments or appendages, allowing the robot to propel itself forward while minimizing resistance from the environment. This approach is particularly useful in search-and-rescue operations, planetary exploration, or industrial inspections where conventional mobility systems fail. The invention addresses the challenge of maintaining locomotion in environments where friction and terrain variability would otherwise impede progress.
8. The system of claim 1, wherein the movement comprises a corkscrew movement.
A system for manipulating objects using a corkscrew movement is disclosed. The system addresses the challenge of efficiently rotating and translating objects in a controlled manner, particularly in constrained or confined spaces where traditional linear or rotational movements are impractical. The corkscrew movement combines rotational and axial motion, allowing the system to navigate tight spaces or penetrate materials with precision. This movement is achieved through a mechanism that synchronizes rotation with forward or backward motion, creating a helical path. The system may include a drive unit, a control module, and an interface for adjusting movement parameters such as speed, torque, and pitch. The corkscrew movement is particularly useful in applications like medical devices, drilling, or robotic manipulation where space is limited and precise control is required. The system may also incorporate sensors to monitor movement and adjust parameters in real-time to ensure accuracy and prevent damage. The design ensures stability and efficiency, making it suitable for both industrial and medical applications where traditional linear or rotational movements are insufficient.
9. The system of claim 1, wherein the movement comprises an inchworm movement.
This invention relates to robotic systems designed for precise movement in constrained environments, such as industrial or medical applications where traditional motion mechanisms are impractical. The system addresses the challenge of achieving controlled, incremental movement in tight spaces by employing an inchworm-like motion. The base system includes a robotic device with multiple segments that can extend and retract in a coordinated manner to propel the device forward or backward. The inchworm movement involves alternating extension and contraction of these segments, mimicking the motion of an inchworm to navigate through narrow passages or around obstacles. This movement mechanism allows the system to traverse complex paths with high precision, avoiding the need for bulky or rigid motion components. The system may also include sensors to detect environmental conditions and adjust movement parameters dynamically. The inchworm-like motion is particularly useful in applications requiring minimal space, such as inspection, repair, or surgical procedures, where traditional wheeled or tracked robots cannot operate effectively. The system ensures stable, incremental progress while maintaining positional accuracy, making it suitable for environments where precise movement is critical.
10. The system of claim 1, wherein the actuator comprises a user interface that is configured to receive the operator instructions from an operator.
A system for controlling an actuator includes a user interface that allows an operator to provide instructions to the actuator. The actuator is part of a larger system designed to perform specific tasks, such as adjusting mechanical components or controlling automated processes. The user interface enables direct interaction between the operator and the actuator, ensuring precise control over its movements or functions. This interface may include input devices like buttons, switches, touchscreens, or other control mechanisms that translate operator commands into executable actions for the actuator. The system ensures that the actuator responds accurately to the operator's instructions, improving efficiency and reducing errors in automated or semi-automated operations. The user interface may also provide feedback to the operator, such as status indicators or confirmation signals, to enhance usability and reliability. This design is particularly useful in industrial, robotic, or automated systems where precise control and operator interaction are essential.
12. The method of claim 11, wherein the robotic arm comprises a tip portion with at least one segment and a proximal portion with multiple segments, wherein selected ones of the multiple segments of the proximal portion provide traction to elevate and/or change an orientation of the tip portion without the tip portion gaining traction from the passage and without operator involvement or control.
This invention relates to robotic arm systems designed for navigating and manipulating within confined passages, such as biological or industrial environments. The problem addressed is the difficulty in controlling a robotic arm's tip portion to achieve precise positioning and orientation changes without relying on external traction or operator intervention, particularly in tight or delicate spaces where direct manipulation is impractical. The robotic arm includes a tip portion with at least one segment and a proximal portion with multiple segments. The proximal segments are selectively actuated to generate traction, allowing the arm to elevate or adjust the orientation of the tip portion independently. This traction is provided by the proximal segments alone, ensuring the tip portion does not rely on friction or grip from the surrounding passage. The system operates autonomously, eliminating the need for manual control or external assistance, which enhances precision and reduces the risk of damage in sensitive environments. The design enables the arm to navigate complex pathways while maintaining stability and control over the tip's position and orientation.
13. The method of claim 11, wherein the environmental map comprises a computer aided design (CAD) model or a dynamically changing model.
This invention relates to environmental mapping systems used in robotics, autonomous navigation, or augmented reality applications. The technology addresses the challenge of accurately representing and updating environmental data to enable precise navigation, object detection, or interaction with dynamic surroundings. The method involves generating or updating an environmental map that can be either a static computer-aided design (CAD) model or a dynamically changing model. A CAD model provides a predefined, high-precision representation of the environment, useful for structured or controlled settings where the physical layout is known in advance. Alternatively, a dynamically changing model continuously updates based on real-time sensor data, allowing the system to adapt to modifications in the environment, such as moving objects or structural changes. The environmental map is used to enhance navigation, object recognition, or interaction capabilities. For example, in robotics, the map helps autonomous systems avoid obstacles or plan efficient paths. In augmented reality, it ensures virtual elements align accurately with the real-world environment. The system may integrate multiple data sources, such as LiDAR, cameras, or other sensors, to refine the map's accuracy and reliability. The dynamic model ensures real-time adaptability, while the CAD model offers stability for predictable environments. This approach improves the system's performance in both static and dynamic settings.
14. The method of claim 11, wherein the environmental map comprises a hybrid of a computer aided design (CAD) model and a dynamically changing model.
A system and method for generating and updating an environmental map for autonomous navigation or robotic applications. The environmental map is a hybrid structure combining a static computer-aided design (CAD) model with a dynamically changing model. The CAD model provides a precise, pre-existing representation of the environment, such as building layouts or infrastructure, while the dynamically changing model captures real-time updates to the environment, such as moving objects, temporary obstacles, or environmental changes. The hybrid approach leverages the accuracy of the CAD model for stable, unchanging features while allowing real-time adjustments for dynamic elements. This combination improves navigation accuracy, reduces computational overhead, and enhances adaptability in environments where both static and dynamic features are present. The system may include sensors, such as LiDAR or cameras, to gather real-time data, which is then integrated with the CAD model to form the hybrid map. The method ensures that the map remains up-to-date while maintaining the structural integrity of the pre-defined CAD model. This approach is particularly useful in applications like autonomous vehicles, robotics, and augmented reality, where both static and dynamic environmental awareness is critical.
15. The method of claim 11, wherein the at least one sensor comprises a camera.
A system and method for environmental monitoring and data collection utilizes at least one sensor, including a camera, to capture visual information from a monitored area. The camera may be part of a network of sensors deployed to gather data for analysis, such as surveillance, environmental tracking, or industrial process monitoring. The system processes the captured visual data to detect and analyze specific conditions, objects, or events within the monitored area. This may include object recognition, motion detection, or environmental parameter measurement. The camera may operate in conjunction with other sensor types, such as temperature, humidity, or gas sensors, to provide a comprehensive dataset. The system may further include data transmission capabilities to relay the collected information to a central processing unit or cloud-based platform for further analysis, storage, or user access. The method ensures real-time or periodic monitoring, enabling timely responses to detected conditions. The camera may be configured with adjustable settings, such as resolution, frame rate, or field of view, to optimize data collection based on the specific application. The system may also incorporate machine learning algorithms to enhance detection accuracy and adapt to changing environmental conditions. This approach improves monitoring efficiency, reduces manual intervention, and supports automated decision-making processes.
16. The method of claim 11, wherein the robotic arm is inserted into the passage at an insertion point of the engine and wherein the at least one sensor comprises a position sensor positioned at the insertion point, the position sensor determining positions of the robotic arm based upon detecting markings on the robotic arm.
This invention relates to robotic inspection systems for internal engine passages, addressing the challenge of accurately tracking the position of a robotic arm within confined engine components. The system includes a robotic arm inserted into an engine passage through a designated insertion point. At least one sensor, specifically a position sensor, is positioned at the insertion point to monitor the robotic arm's movement. The position sensor detects markings on the robotic arm to determine its precise location within the passage. This enables real-time tracking of the robotic arm's position, ensuring accurate inspection or maintenance operations. The system may also include additional sensors, such as imaging or proximity sensors, to gather further data about the engine's internal condition. The robotic arm is designed to navigate complex passage geometries, and its position data is used to generate a detailed map of the inspected area. This approach improves inspection accuracy and reduces the risk of damage to the engine or the robotic system. The invention is particularly useful in aerospace and industrial applications where precise internal inspections are critical.
17. The method of claim 11, wherein the movement comprises a sidewinding movement.
This invention relates to robotic or mechanical systems designed for movement across uneven or unstable surfaces, such as sand, rubble, or other granular materials. The primary challenge addressed is enabling efficient and stable locomotion in environments where traditional wheeled or legged robots struggle due to sinking, slipping, or instability. The solution involves a sidewinding movement pattern, which mimics the lateral undulating motion observed in certain reptiles, such as snakes, to distribute weight and reduce resistance. The system includes a flexible or segmented body structure that allows lateral undulation, with individual segments or appendages capable of independent or coordinated movement. The sidewinding motion involves alternating lateral shifts of the body while maintaining forward progress, reducing the risk of sinking or losing traction. This approach improves mobility in loose or deformable terrains by minimizing ground disturbance and maximizing contact area. The invention may be applied to search-and-rescue robots, planetary exploration rovers, or other autonomous systems operating in challenging environments. The sidewinding mechanism can be integrated with sensors and control algorithms to adapt movement based on terrain conditions, ensuring stability and efficiency.
18. The method of claim 11, wherein the movement comprises a corkscrew movement.
A system and method for manipulating an object using a robotic arm involves controlling the arm to perform precise movements, including a corkscrew motion. The robotic arm is equipped with sensors and actuators to detect and adjust its position and orientation relative to the object. The corkscrew movement allows the arm to rotate while simultaneously translating along a helical path, enabling efficient and controlled insertion or extraction of the object. This technique is particularly useful in applications requiring precise manipulation in constrained environments, such as medical procedures, assembly tasks, or material handling. The system may include feedback mechanisms to ensure accurate tracking of the movement and adjust parameters in real-time to maintain the desired trajectory. The corkscrew motion enhances the arm's ability to navigate around obstacles or apply torque while advancing, improving operational flexibility and precision.
19. The method of claim 11, wherein the movement comprises an inchworm movement.
This invention relates to robotic or automated systems designed for precise movement in constrained environments, such as inspection, assembly, or repair tasks. The challenge addressed is achieving controlled, incremental motion in tight spaces where traditional movement mechanisms may be impractical or inefficient. The solution involves a movement mechanism that mimics the motion of an inchworm, allowing for gradual, step-by-step advancement. The inchworm-like movement is characterized by alternating extension and contraction of segments, enabling the system to propel itself forward or backward in small, controlled increments. This method is particularly useful in applications requiring high precision and minimal space, such as micro-robotics, medical devices, or industrial automation. The system may include extendable and retractable segments, grippers, or other actuation components that facilitate the inchworm motion. The movement can be powered by mechanical, hydraulic, or electromagnetic actuators, depending on the application. The design ensures stability and accuracy during operation, reducing the risk of slippage or misalignment in confined or uneven environments. This approach enhances maneuverability and adaptability in scenarios where conventional locomotion methods are ineffective.
20. The method of claim 11, wherein the actuator comprises a user interface that is configured to receive the operator instructions from an operator.
A system and method for controlling an actuator in a mechanical or industrial application involves a user interface that allows an operator to provide instructions directly to the actuator. The actuator is part of a larger control system that adjusts mechanical components based on operator input or automated processes. The user interface may include input devices such as buttons, switches, touchscreens, or other control mechanisms to enable manual operation. The actuator responds to these instructions by moving or adjusting mechanical parts, such as valves, robotic arms, or other movable components, to achieve a desired position or function. The system may also incorporate feedback mechanisms to confirm the actuator's response to the operator's commands. This method ensures precise control over mechanical operations, allowing for manual intervention when needed, particularly in applications where automated systems may not be sufficient or where human oversight is required. The user interface may be integrated into the actuator itself or connected remotely, depending on the system's design. This approach enhances flexibility and reliability in industrial automation, robotics, and other mechanical control applications.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
April 4, 2022
June 4, 2024
Browse 5M+ US patents with plain-English claim translations and AI-generated analysis.